%0 Journal Article %A Morrow, J. Dan %A Khosla, Pradeep %D 1995 %T Sensorimotor Primitives for Robotic Assembly Skills %U https://kilthub.cmu.edu/articles/journal_contribution/Sensorimotor_Primitives_for_Robotic_Assembly_Skills/6625751 %R 10.1184/R1/6625751.v1 %2 https://kilthub.cmu.edu/ndownloader/files/12123200 %K Software Research %X

Many researchers are interested in developing robust, skill-achieving robot programs. We propose the development of asensorimotor primitive layer which bridges the gap between the robot/sensor system and a class of tasks by providing useful encapsulations of sensing and action. Skills can then be constructed from this library of sensor-driven primitives. This reflects a move away from the separation of sensing and action in robot programming of task strategies towards the integration of sensing and action in a domain-general way for broad classes of tasks. For the domain of rigid-body assembly, we are exploiting the motion constraints which define assembly to develop force sensor-driven primitives. We report on the experimental results of a D-connector insertion skill implemented using several force-driven primitives.

%I Carnegie Mellon University